{"id":"https://openalex.org/W3034058602","doi":"https://doi.org/10.1109/access.2020.3031019","title":"OpenSHC: A Versatile Multilegged Robot Controller","display_name":"OpenSHC: A Versatile Multilegged Robot Controller","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3034058602","doi":"https://doi.org/10.1109/access.2020.3031019","mag":"3034058602"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3031019","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3031019","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09223640.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09223640.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069756365","display_name":"Benjamin Tam","orcid":"https://orcid.org/0000-0003-3586-4354"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]},{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Benjamin Tam","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","School of Information Technology and Electrical Engineering, The University of Queensland, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0003-3586-4354","affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]},{"raw_affiliation_string":"School of Information Technology and Electrical Engineering, The University of Queensland, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I160993911","https://openalex.org/I165143802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006463564","display_name":"Fletcher Talbot","orcid":"https://orcid.org/0000-0001-7845-4641"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fletcher Talbot","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014108642","display_name":"Ryan Steindl","orcid":"https://orcid.org/0000-0001-7048-7270"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ryan Steindl","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085516662","display_name":"Alberto Elfes","orcid":"https://orcid.org/0000-0003-2433-995X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alberto Elfes","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056096868","display_name":"Navinda Kottege","orcid":"https://orcid.org/0000-0002-2286-776X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Navinda Kottege","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0002-2286-776X","affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia","institution_ids":["https://openalex.org/I1292875679"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.61,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.63745827,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"188908","last_page":"188926"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9829999804496765,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9749000072479248,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9582681655883789},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7691299915313721},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6744999885559082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.657538652420044},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6188411712646484},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6147981286048889},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5218895077705383},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5045565366744995},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4557856619358063},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4495049715042114},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43849989771842957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3980215787887573},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3930334746837616},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3536895513534546},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34307432174682617},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18415188789367676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16097551584243774},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12405571341514587}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9582681655883789},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7691299915313721},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6744999885559082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.657538652420044},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6188411712646484},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6147981286048889},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5218895077705383},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5045565366744995},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4557856619358063},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4495049715042114},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43849989771842957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3980215787887573},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3930334746837616},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3536895513534546},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34307432174682617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18415188789367676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16097551584243774},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12405571341514587},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2020.3031019","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3031019","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09223640.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2006.04424","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.04424","pdf_url":"https://arxiv.org/pdf/2006.04424","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:doaj.org/article:c9ab841fac72464d9cce4336deecda4b","is_oa":true,"landing_page_url":"https://doaj.org/article/c9ab841fac72464d9cce4336deecda4b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 188908-188926 (2020)","raw_type":"article"},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:6f7570e","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3031019","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3031019","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09223640.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3034058602.pdf","grobid_xml":"https://content.openalex.org/works/W3034058602.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1530318945","https://openalex.org/W1573998781","https://openalex.org/W1975230295","https://openalex.org/W1979445726","https://openalex.org/W1981141114","https://openalex.org/W1993491007","https://openalex.org/W2050080462","https://openalex.org/W2052391272","https://openalex.org/W2070805426","https://openalex.org/W2082607350","https://openalex.org/W2113147141","https://openalex.org/W2125577800","https://openalex.org/W2146532483","https://openalex.org/W2147717475","https://openalex.org/W2157579485","https://openalex.org/W2167340365","https://openalex.org/W2297218263","https://openalex.org/W2326186327","https://openalex.org/W2531596132","https://openalex.org/W2549216668","https://openalex.org/W2564207292","https://openalex.org/W2588781200","https://openalex.org/W2592891024","https://openalex.org/W2737564557","https://openalex.org/W2775416623","https://openalex.org/W2783350322","https://openalex.org/W2792472204","https://openalex.org/W2809220729","https://openalex.org/W2809297793","https://openalex.org/W2855708221","https://openalex.org/W2901136733","https://openalex.org/W2908865136","https://openalex.org/W2909553221","https://openalex.org/W2913995178","https://openalex.org/W2968366126","https://openalex.org/W2977389550","https://openalex.org/W3007035358","https://openalex.org/W3041190052","https://openalex.org/W3097215992","https://openalex.org/W3104537609","https://openalex.org/W4236565649","https://openalex.org/W4245550013","https://openalex.org/W4250058668","https://openalex.org/W4251039300","https://openalex.org/W4256673617","https://openalex.org/W6681840921","https://openalex.org/W6752627935","https://openalex.org/W6752794836","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2166802441","https://openalex.org/W2005454405","https://openalex.org/W2206060124","https://openalex.org/W2739593313","https://openalex.org/W2371131212","https://openalex.org/W2243669827","https://openalex.org/W13333063","https://openalex.org/W2841879989","https://openalex.org/W3178074323","https://openalex.org/W2998534312"],"abstract_inverted_index":{"Multilegged":[0],"robots":[1,18,23,72],"have":[2],"the":[3,14,65,86,94,136,150],"ability":[4],"to":[5,27,114,172],"perform":[6],"stable":[7],"locomotion":[8,107,118,127],"on":[9,71,85],"relatively":[10],"rough":[11],"terrain.":[12],"However,":[13],"complexity":[15],"of":[16,42,81,89,97,146,178],"legged":[17],"over":[19,105],"wheeled":[20],"or":[21],"tracked":[22],"make":[24],"them":[25],"difficult":[26],"control.":[28],"This":[29],"paper":[30],"presents":[31],"OpenSHC":[32,82,110,167],"(Open-source":[33],"Syropod":[34],"High-level":[35],"Controller),":[36],"a":[37,120,144],"versatile":[38],"high-level":[39],"controller":[40,66],"capable":[41],"generating":[43],"gaits":[44,104],"and":[45,53,76,103,117,160,170,180],"poses":[46],"for":[47,125,175],"quasi-static":[48],"multilegged":[49],"robots,":[50],"both":[51],"simulated":[52],"with":[54,73,149],"real":[55],"hardware":[56],"implementations.":[57],"With":[58,109],"full":[59],"Robot":[60],"Operating":[61],"System":[62],"(ROS)":[63],"integration,":[64],"can":[67],"be":[68,173],"quickly":[69],"deployed":[70],"different":[74,106,115],"actuators":[75],"sensor":[77],"payloads.":[78],"The":[79,131],"flexibility":[80],"is":[83,129,168],"demonstrated":[84],"30":[87],"degrees":[88],"freedom":[90],"hexapod":[91],"Bullet,":[92],"analysing":[93],"energetic":[95],"performance":[96,154],"various":[98,176],"leg":[99],"configurations,":[100],"kinematic":[101],"arrangements":[102],"speeds.":[108],"being":[111],"easily":[112],"configured":[113,174],"physical":[116],"specifications,":[119],"hardware-based":[121],"parameter":[122],"space":[123],"search":[124],"optimal":[126],"parameters":[128],"conducted.":[130],"experimental":[132],"evaluation":[133],"shows":[134],"that":[135],"mammalian":[137],"configuration":[138,152],"offers":[139],"lower":[140],"power":[141],"consumption":[142],"across":[143],"range":[145],"step":[147,165],"frequencies;":[148],"insectoid":[151],"providing":[153],"advantages":[155],"at":[156,163],"higher":[157],"body":[158],"velocities":[159],"increased":[161],"stability":[162],"low":[164],"frequencies.":[166],"open-source":[169],"able":[171],"number":[177],"joints":[179],"legs.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}